Abstract
By integrating a single antenna GPS receiver and dynamic sensors, key states for electric vehicle motion control system can be estimated, including yaw angle, sideslip angle, longitudinal velocity, and lateral velocity. In order to achieve accurate state estimation, Kalman filter with disturbance accommodating technique considering the handling of time delay in measurements using GPS is proposed. In this paper, three motion controls of electric vehicle based on the estimated states are demonstrated. The first is attitude control using front steering angle with feedback-feedforward controller and disturbance observer. The second is a traction control based on wheel slip ratio control system using sliding mode control theory. The last is lateral stability control using estimated sideslip angle.
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